# US 2020/0399867 A1 · Work machine and system including work machine > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2020/0399867 A1 - Document ID: US20200399867A1 - Status: Published application - Kind: A1 - Application number: 16/962,568 - Filed: 2019-03-14 - Published: 2020-12-24 - Earliest claimed: 2018-06-29 - Assignees: Komatsu Ltd. - Applicants: Komatsu Ltd. - Inventors: Masaki DAIMON; Hiroyuki ARATAME - Web page: https://patentgrep.com/patent/US20200399867A1 ## CPC - E02F 3/434: {providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig} - E02F 9/264: {Sensors and their calibration for indicating the position of the work tool} - E02F 9/2029: {Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed (control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence)} - E02F 9/2079: {Control of mechanical transmission (for hydrostatic transmission or hydraulic torque converter E02F9/2253)} - E02F 9/26: Indicating devices {(E02F5/145 takes precedence)} - E02F 9/262: {with follow-up actions to control the work tool, e.g. controller} - B60Y 2200/412: Excavators - E02F 9/2203: {Arrangements for controlling the attitude of actuators, e.g. speed, floating function} - E02F 9/2292: {Systems with two or more pumps} - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## Abstract A time period for which an ineffective operation is performed during an excavation work is reduced. A work machine includes a vehicular body, a running wheel rotatably attached to the vehicular body, a work implement operable with respect to the vehicular body, an operation apparatus for operating the running wheel and the work implement, and a controller that controls an operation by the work machine. The controller determines that an ineffective operation in which the work implement does not work is being performed during the excavation work based on an operation command value output from the operation apparatus and notifies an operator of occurrence of the ineffective operation. ## Claims ### Claim 1 A work machine comprising: a vehicular body; a running wheel rotatably attached to the vehicular body; a work implement operable with respect to the vehicular body; an operation apparatus for operating the running wheel and the work implement; and a controller that controls an operation by the work machine, wherein the controller determines that an ineffective operation in which the work implement does not work is being performed during an excavation work based on an operation command value output from the operation apparatus, and notifies an operator of occurrence of the ineffective operation. ### Claim 2 (depends on 1) The work machine according to claim 1, further comprising at least one sensor that detects a state of the work machine, wherein the controller determines whether the work machine is performing the excavation work based on a signal from the sensor. ### Claim 3 (depends on 1) The work machine according to claim 1, wherein when the controller determines that slip-during-excavation which refers to slip of the running wheel with respect to ground is occurring during the excavation work, the controller notifies the operator of occurrence of the slip-during-excavation. ### Claim 4 (depends on 3) The work machine according to claim 3, wherein the work implement includes a boom, the operation apparatus includes a boom operation apparatus for operating the boom, and when the operation command value output from the boom operation apparatus is smaller than a first threshold value, the controller determines that the slip-during-excavation is occurring. ### Claim 5 (depends on 3) The work machine according to claim 3, wherein the controller calculates a rotation speed of the running wheel based on a signal from a sensor. ### Claim 6 (depends on 1) The work machine according to claim 1, wherein the work implement includes a bucket, and when the controller determines that work implement stall in which the work implement is unable to work is occurring during the excavation work, the controller notifies the operator of occurrence of the work implement stall. ### Claim 7 (depends on 6) The work machine according to claim 6, wherein the work implement includes a boom, the operation apparatus includes a boom operation apparatus for operating the boom, the controller calculates a speed of raise of the boom based on a signal from a sensor, and when the operation command value output from the boom operation apparatus is larger than a second threshold value and the speed of raise is smaller than a third threshold value, the controller determines that the work implement stall is occurring. ### Claim 8 (depends on 1) The work machine according to claim 1, wherein the work implement includes a boom, the operation apparatus includes a boom operation apparatus for operating the boom, and the operation command value includes a detection signal for operating the boom that is output from the boom operation apparatus to the controller. ### Claim 9 (depends on 1) The work machine according to claim 1, wherein the operation command value includes a detection signal that indicates travel forward of the running wheel. ### Claim 10 A system including a work machine comprising: a vehicular body; a running wheel rotatably attached to the vehicular body; a work implement operable with respect to the vehicular body; an operation apparatus for operating the running wheel and the work implement; and a controller that controls an operation by the work machine, wherein the controller determines that an ineffective operation in which the work implement does not work is being performed during an excavation work based on an operation command value output from the operation apparatus, and notifies an operator of occurrence of the ineffective operation.